22 lines
1.2 KiB
XML
22 lines
1.2 KiB
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find rbs_arm)/urdf/inc/joint_interface.xacro" />
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<xacro:macro name="rbs_arm_ros2_control" params="name hardware prefix">
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<ros2_control name="${name}" type="system">
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<hardware>
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<xacro:if value="${hardware=='gazebo'}">
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<plugin>ign_ros2_control/IgnitionSystem</plugin>
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</xacro:if>
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<xacro:if value="${hardware=='mock'}">
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<plugin>mock_components/GenericSystem</plugin>
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</xacro:if>
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</hardware>
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<xacro:joint_interface name="${prefix}fork001_link_joint" p="1000" d="0.5" />
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<xacro:joint_interface name="${prefix}main001_link_joint" p="1000" d="0.5" />
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<xacro:joint_interface name="${prefix}fork002_link_joint" p="500" d="0.5" />
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<xacro:joint_interface name="${prefix}main002_link_joint" p="100" d="0.5" />
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<xacro:joint_interface name="${prefix}fork003_link_joint" p="10" d="0.5" />
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<xacro:joint_interface name="${prefix}ee_link_joint" p="10" d="0.5" />
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</ros2_control>
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</xacro:macro>
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</robot>
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